Provided are an initial localization method and apparatus, a visual navigation device, a warehousing system, a computer-readable storage medium, and a computer program product. The method comprises: acquiring ground images captured by a first visual navigation device by means of a camera after the visual navigation device is started in an online region of a target site, so as to obtain an initial localization image, wherein the target site comprises a plurality of regions, the plurality of regions are divided into online regions and non-online regions, and the first visual navigation device is pre-disposed in any one online region of the plurality of regions (101); calculating a feature matching degree between the initial localization image and each online sample image (102); determining localization information of the online sample image, with the feature matching degree between same and the initial localization image being the highest (103); and determining, according to the localization information of the online sample image having the highest feature matching degree, a localization result of initial localization performed by the visual navigation device (104). According to the initial localization method, the initial localization efficiency can be improved, and the online efficiency is thus also improved.